CN108202728A - The system and method braked using the brake actuating mechanism control vehicle of installation on the steering wheel - Google Patents

Abstract

It disclosed herein the system and method braked using the brake actuating mechanism control vehicle of installation on the steering wheel.In the exemplary embodiment, a kind of method for abrupt deceleration vehicle includes providing the steering including the steering wheel with brake actuating mechanism, braking system for vehicle, and with braking system and the controller of brake actuating mechanism electronic communication, receive the user's input for carrying out self brake actuating mechanism, it is inputted based on user and calculates the vehicle braking amount to be applied and motor vehicle braking system is automatically controlled based on the vehicle braking amount calculated.

Description

The system braked using the brake actuating mechanism control vehicle of installation on the steering wheel And method

Background technology

The present invention relates generally to vehicle brake field, and relate more specifically to by based on be applied to installation on the steering wheel The power of brake actuating mechanism be applied to the method and system of vehicle brake.

Many vehicles are equipped with automatic and/or semi-automatic driving system, application and/or feature.Automatic and semi-automatic driving System can provide automatic Pilot control, to reduce the action needed for driver's operation vehicle.

When designing automatic and/or semi-automatic driving system, it may be considered that safety factor.In order to meet safety requirements, drive The person of sailing can be prior to automatic and/or semi-automatic driving system.Specifically, in some cases, driver may want to excellent Prior to automatic and/or semi-automatic driving system automatic breaking system.Therefore, it is intended that driver when prior to such system Being improved property of uniting determines.Additionally, it is desirable to provide a kind of be used for prior to (the particularly vehicle braking of automated vehicle control system System) improved method and system.

Invention content

Many advantages are provided according to an embodiment of the invention.It for example, according to an embodiment of the invention can be via installation Brake actuating mechanism on the steering wheel starts motor vehicle braking system.It measures and analyzes the side caused by the grasping of operator Pressure on disk.If detecting abnormal pressure, start motor vehicle braking system so that vehicle is slowed or stopped.Mounted on direction Brake actuating mechanism on disk may be used as an automatically or semi-automatically part for driving mode or when vehicle is driver's Comprehensively to may be used as auxiliary brake actuating mechanism during non-automatic drive mode operation under control.

On the one hand, a kind of method for abrupt deceleration vehicle includes：It is provided for vehicle including there is installation on the steering wheel The steering of steering wheel of brake actuating mechanism, braking system and with braking system and brake actuating mechanism electricity The controller of son communication；It is inputted by controller reception come the user of self brake actuating mechanism；It is inputted based on user, passes through control Device processed calculates applied vehicle braking amount；And based on the vehicle braking amount calculated, control is automatically controlled by controller Motor vehicle braking system.

In some respects, this method further comprises：The actuator for being configured to control motor vehicle braking system is provided for vehicle, The actuator and controller electronic communication；And it is inputted in response to user, control signal is generated by controller, to control actuating Device changes the brake level provided by motor vehicle braking system.In some respects, this method further comprises：Pass through controller Monitoring user is inputted and inputted based on the user generates files on each of customers by controller.

In some respects, user's input is the grip on steering wheel.

In some respects, this method further comprises：Sensing system is provided for vehicle, which includes one or more A vehicle sensors, the one or more vehicle sensors are configured to one or more of the generation corresponding to vehicle environmental feature Sensing data, and steering and braking system are automatically controlled by controller based on sensing data.In some respects, should Method further comprises：By controller monitor sensing data and user input and by controller by sensing data with User's input is associated the detection of obstacles ability to improve sensing system.

On the other hand, motor vehicles include braking system；Actuator is configured to control braking system；Mounted on vehicle User interface on steering wheel；And with actuator and the controller of user interface electronic communication, which is configured to Receive user's input from user interface；It is inputted based on user, calculates applied vehicle braking amount；And automatically control cause Dynamic device applies calculated vehicle braking amount.

In some respects, user interface includes one or more pressure sensors being mounted on steering wheel for vehicle.One A little aspects, user's input is one or more steering wheel grip data, grip strength data and grasps frequency data.At some Aspect, the controller are further configured to monitoring user and input and input generation files on each of customers based on user.In some sides Face, files on each of customers include one or more steering wheel grip data during motor vehicles are run, grip strength data and grab Hold frequency data.

In some respects, which further comprises steering, throttle system and including one or more The sensing system of vehicle sensors, the vehicle sensors are configured to generation and correspond to vehicle environmental feature one or more sensing Device data, and wherein the controller be further configured to based on sensing data come control steering, braking system and Throttle system.

In some respects, which is further configured to monitoring sensing data and user's input and by sensor Data are associated with user's input to improve the detection of obstacles ability of sensing system.

On the other hand, the user that a kind of system for automatically controlling vehicle braking includes being mounted on steering wheel for vehicle connects Mouthful；Actuator is configured to control motor vehicle braking system；And the controller to communicate with user interface and actuator electronics, it should Controller is configured to receive user's input from user interface, and the vehicle to be applied braking is calculated based on user's input Amount, and automatically control actuator and apply calculated vehicle braking amount.

In some respects, user interface includes one or more sensors, which is configured to survey The feature that the one or more users of amount grasp, the grip features include the grip strength that user grasps on steering wheel for vehicle, grasp Frequency and grasp the duration in one it is the more a.In some respects, one or more sensors include one or more Pressure sensor.In some respects, one or more pressure sensors include one or more piezoresistance sensors.

In some respects, controller is further configured to analyze one or more user's grip features and is based on being analyzed Grip features generation files on each of customers.

In some respects, which further comprises steering, throttle system and is passed including one or more vehicles The sensing system of sensor, the vehicle sensors are configured to one or more sensors number of the generation corresponding to vehicle environmental feature According to, and wherein controller is further configured to control steering and braking system based on sensing data.In some sides Face, the controller are further configured to monitoring sensing data and user's input and by sensing datas and user's the input phase It is associated with the detection of obstacles ability to improve sensing system.

Description of the drawings

The present invention, wherein like reference numerals represent like elements will be described in conjunction with the following drawings.

Fig. 1 is the schematic diagram according to the vehicle of embodiment.

Fig. 2 is the schematic diagram according to the steering wheel with brake actuating mechanism of embodiment.

Fig. 3 is the schematic diagram according to the steering wheel with brake actuating mechanism of another embodiment.

Fig. 4 is the schematic block diagram according to the automatic Pilot auxiliary system (ADAS) for vehicle of embodiment.

Fig. 5 is to start vehicle braking by installing the pressure on brake actuating mechanism on the steering wheel according to embodiment The flow chart of the method for system.

With reference to attached drawing, will become more with appended claims, aforementioned and other feature of the invention according to the following instructions Obviously.It should be understood that these attached drawings depict only several embodiments according to the present invention, and it is not considered as pair The limitation of its range, will come by using attached drawing with more features and details that present invention is described.In attached drawing or herein The purpose that any size disclosed in other places is merely to illustrate.

Specific embodiment

It there is described herein the embodiment of the present invention.It should be understood, however, that the disclosed embodiments be only example simultaneously And other embodiments can take different and replaceable form.Attached drawing is not necessarily to scale；Some features can be put It is big or minimize details to show particular component.Therefore, specific structure and function details disclosed herein should not be by It is construed to restricted, and only uses representative base of the invention in various ways as enlightening those skilled in the art Plinth.As understood by those skilled in the art, the various features with reference to shown or described by any one attached drawing can To be combined with the feature shown in one or more other accompanying drawings, with the embodiment that is produced without being explicitly illustrated or describe.It is shown The typical case that is combined as going out feature provides representative embodiment.However, the feature consistent with the enlightenment of the present invention is each Kind combination and modification are for specifically applying or realizing what is be desirable that.

Specific term can be used in the following description, is only used for the purpose of reference, therefore is not limiting.Example Such as, the term of such as " top " " lower section " refers to make the direction of reference in the accompanying drawings.Such as " preceding ", " back of the body ", "left", "right", The terms such as " rear " and " side " describe orientation and the/position of a part for consistent but arbitrary reference system inner part or element, pass through With reference to the component or the text of element and relevant drawings discussed, which will be apparent.Furthermore, it is possible to using such as The terms such as " first ", " second ", " third " describe individual component.Such term may include the word being particularly mentioned above The word of language, its derivative and similar meaning.

Many vehicles are equipped with automatic and/or semi-automatic driving system, application and/or feature, such as auto-steering, system Dynamic, air throttle and shifting system.Automatic and semi-automatic driving system can provide automatic Pilot control, to reduce driver's operation Action needed for vehicle.Controller is received from the vehicle sensing system including various sensors about vehicle feature and environmental condition Information, and based on the one or more control signals of information generation (in some embodiments including brake control signal). However, under some situations, sensing system possibly can not detect or take action under the specified conditions that vehicle is needed to brake. Under some situations, driver can detect upcoming barrier or danger before sensing system detects barrier or danger Danger.In addition, some equipped with cruise feature vehicles in, driver may by his or her foot far from brake pedal, and Therefore upcoming obstacle or danger may not be responded fast enough, typically result in emergent stopping.

Process discussed herein and system can make the grip of vehicle learning direction disk.Based on installation on the steering wheel Power measured by brake actuating mechanism (such as pressure sensor), the controller of vehicle can determine power whether with it is normal from Dynamic, whether measured or grip similar with the grip of tracking is when driving during semi-automatic or substantial length of operation person control operation Member detects stronger " urgent " grip caused by upcoming barrier or dangerous possibility.If the controller determine that it detects Grip than expected or the threshold value remembered is stronger, then controller generation control signal is to start vehicle braking.Through entire hair Bright, term " normal " is used to indicate operation when vehicle does not detect dangerous or barrier.

In addition, for the vehicle with automatic Pilot auxiliary system or ADAS, process discussed herein and system can Improve the ability that vehicle sensing system detects barrier or danger along travel path.Started by the brake installed on the steering wheel The information that system is provided can be used for improving the accuracy of identification of the vehicle sensory system including hazard detection.For example, by grasping "abnormal" that the periodic monitoring of the grip of work person determines or grip beyond the expected range can be controlled as hazard detection event Device processed storage, and with data (such as radar or LIDAR images, optical imagery or other sensors from vehicle sensing system Information) compare, to confirm the barrier detected and/or the accuracy of detection for improving sensing system.

Fig. 1 schematically illustrates motor vehicles 10 according to the present invention.Vehicle 10 generally includes vehicle body 11,12 and of chassis Wheel 15.Vehicle body 11 is arranged on chassis 12 and surrounds the other component of vehicle 10 substantially.Vehicle body 11 and chassis 12 can be common Form vehicle frame.Wheel 15 is each rotationally coupled to chassis 12 in the corresponding corner close to vehicle body 11.In shown implementation In example, vehicle 10 is described as passenger car, it should be appreciated that, it is also used as including motorcycle, truck, sport utility Any other vehicle of vehicle (SUV) or the vehicle (RV) etc. that lies fallow.

Vehicle 10 includes propulsion system 13, can include internal combustion engine, motor (such as traction electricity in different embodiments Machine) and/or fuel cell propulsion system.Vehicle 10 further includes speed changer 14, is configured to according to optional speed ratio in the future The power transmission of self-propelled system 13 is to multiple wheel of vehicle 15.According to various embodiments, speed changer 14 can include grade certainly Dynamic speed changer, contiuously variable transmission or other suitable speed changers.Vehicle 10 also comprises wheel drag 17, the wheel drag 17 are configured to provide braking moment to wheel of vehicle 15.In various embodiments, wheel drag 17 can include friction system Dynamic device, the regeneration brake system of such as motor and/or other suitable braking systems.

As described below, vehicle 10 also comprises steering 16, and steering includes the brake of installation on the steering wheel Actuating mechanism.In various embodiments, vehicle 10 further includes wireless communication system 28.In some embodiments, wireless communication system System 28 includes navigation system, which is used in the form of GPS coordinate (longitude, latitude and height above sea level/height) to control Device 22 processed provides location information.In some embodiments, wireless communication system 28 can include Global Satellite Navigation System (GNSS), Global Satellite Navigation System is configured to communicate with global navigational satellite and be determined with the automatic geographical space for providing vehicle 10 Position.In an illustrated embodiment, wireless communication system 28 includes the antenna being connect with receiver electronics.

With further reference to Fig. 1, vehicle 10 further includes sensing system, which includes multiple sensors 26, sensor It is configured to measure and collects the data about one or more vehicle features, which includes but unlimited It is inputted in the user of car speed, vehicle direction and such as steering wheel grip.In the shown embodiment, sensor 26 is included but not Be limited to accelerometer, velocity sensor, towards sensor, one or more pressure sensors on steering wheel 16 or Other sensors of vehicle observable situation or vehicle-periphery are sensed, and can take the circumstances into consideration to include radar, laser radar, light Learn camera, thermal imaging system, ultrasonic sensor and/or additional sensor.Vehicle 10 further includes multiple actuators 30, actuator configuration For receiving control command to control the steering of vehicle 10, shift gears, air throttle, braking or other aspects, as in further detail below Ground discussion.

Vehicle 10 includes at least one controller 22.Although being portrayed as individual unit for illustrative purposes, control Device 22 can also comprise other one or more controllers, be referred to as " controller ".Controller 22 can include with it is various types of The microprocessor or central processing unit (CPU) or graphics processing unit that type computer readable storage devices or medium communicate (GPU).For example, computer readable storage devices or medium can include read-only memory (ROM), random access memory (RAM) and the volatile and non-volatile memory in keep-alive memory (KAM).KAM is a persistence or non-volatile deposits Reservoir, available for storing various operation variables when CPU is powered off.The many that computer readable storage devices or medium can use (such as PROM (programmable read only memory), EPROM (electric PROM), EEPROM (electric erasable PROM) dodge known storage device Deposit or any other electronic equipment) or data-storable any other electricity, magnetic, appointing in light or combination memory device What one is realized, some of them represent the executable instruction for being used to control vehicle by controller 22.

In some embodiments, controller 22 includes auxiliary for automatically controlling the automatic Pilot of the various actuators in vehicle Auxiliary system (ADAS) 24.In the exemplary embodiment, ADAS 24 is so-called three-level, level Four or Pyatyi automated system.Three Grade system representation is limited from navigation automation, this is referred under special traffic or environmental condition, and driver it is expected to control once in a while The particular characteristic of driving mode when processed caused by the automated driving system of all driving functions.Level Four system representation is " highly automated Change ", even if this refers to that driver does not make appropriate response to intervening requirement, also by automated driving system to dynamically driving Sail the particular characteristic of the driving mode caused by the various aspects of task.Pyatyi system representation " full-automation ", this refers to driving It is full-time caused by dynamic driving task automated driving system in all aspects under all roads and environmental condition that the person of sailing is managed Performance.In the exemplary embodiment, ADAS 24 is configured to control propulsion system 13, speed changer 14, steering 16 and vehicle Brake 17 is taken turns, to accelerate, turn to and brake by whetheing there is the vehicle of human intervention respectively by multiple actuators 30, with response In the input from multiple sensors 26, multiple sensors can uitably include GPS, radar, laser radar, optical camera, heat As instrument, ultrasonic sensor, pressure sensor and/or additional sensor.

Fig. 2 shows one embodiment of the steering 16 for the steering wheel 162 for having brake actuating mechanism. In some embodiments, brake actuating mechanism is user interface, which includes one be electrically connected with controller 22 Or multiple pressure sensor 164A, 164B.Steering wheel 162 includes outer shroud 163 and outer shroud 163 is connected to steering wheel hub 167 One or more spokes 165.One or more pressure sensor 164A, 164B are to provide information to controller 22 as described above A type of sensor 26.In some respects, one or more pressure sensor 164A, 164B are piezoelectric transducer or pressure drag Sensor.In some embodiments, the outer shroud 163 of pressure sensor 164A, 164B along steering wheel 162 is formed more than one Ring, including but not limited to 2 or 4 rings.During vehicle is run, pressure sensor 164A, 164B are captured with periodic interval User input data about operator's grip on outer ring 163.Grip strength data are captured in different times and count this According to controller 22 is transferred to, device 22 provides data in order to control, with instruction abnormal user reception condition and required brake command " emergency " determines " normal " operation grip compared to relatively.Controller 22 handle and analyze from pressure sensor 164A, The data of 164B are to generate the files on each of customers remembered of grip strength of the operator on outer ring 163, so as to improve dangerous inspection It surveys precision and applied vehicle braking amount or motor vehicle braking system offer vehicle brake level is calculated based on grip strength.

Fig. 3 shows the enlarged drawing of a spoke in the embodiment of steering wheel 162.In the present embodiment, spoke 165 includes Brake actuating mechanism.Brake actuating mechanism is included along the pressure sensor at least part of the periphery of spoke 165 164.Fig. 3 shows a spoke 165；However, in other embodiments, steering wheel 162 shown in Fig. 3 may include two or more A spoke 165, and each spoke 165 can include pressure sensor 164.

Similar to pressure sensor 164A, the 164B being placed in Fig. 2 on outer shroud 163, it is placed on one or more spokes 165 Different time of the pressure sensor 164 during vehicle is run capture about grip strength of the operator on spoke 165 or The data of the intensity of pressure.For example, when vehicle to cruise or steady-state mode (such as three-level, level Four or Pyatyi automation) operation When, lightly the hand of operator can be placed on the spoke 165 of steering wheel 162, because the position of this hand may be right It is more comfortable for operator.Sensor 164 measures grip strength during the operation, and if operator detects barrier Or it is dangerous and more forcefully hold the steering wheel 162 on spoke 165, also measure grip strength.Controller 22 is handled and is divided The data from pressure sensor 164 are analysed, to generate the files on each of customers remembered of operator's grip strength on spoke 165, So as to detect the abnormal traffic event indicated by the abnormal grip or pressure detected and calculate what is applied based on grip strength Vehicle braking amount or motor vehicle braking system provide vehicle brake level.

As shown in figure 4, one embodiment of ADAS 24 include multiple and different control systems, with automatically with it is semi-automatic Ground controls the acceleration of vehicle 10, braking and throttle system.In some embodiments, ADAS 24 includes sensor fusion and pre- Processing module 32, the sensing data 27 of processing and synthesis from various sensors 26 (including pressure sensor 164).Sensing Device merges and the pretreatment of the calibration, including but not limited to pressure sensor data of the execution sensing data 27 of preprocessing module 32 And calibration.Sensor merges and preprocessing module 32 exports the sensor output 33 being pretreated.Sensor output 33 includes each Kind of calculating parameter, the including but not limited to hand of operator or hand whether on the steering wheel, holding on steering wheel outer rim or spoke Power about the information of the object detected, detects the position relative to vehicle of barrier, the barrier detected relative to Position and orientation of the predicted path and traffic lane of vehicle relative to vehicle.

With continued reference to Fig. 4, ADAS 24 further includes study and computing module 34, for analyzing pressure sensor data and base Determine that data indicate whether the danger detected in intensified learning.Study and the generation study of computing module 34 output 35.Using strong Chemistry is practised, by analyze grip caused by including holding steering wheel due to operator, grip strength and grasp one of frequency or Several user's inputs, study and the tracking of computing module 34 and gripping of the learning manipulation person on steering wheel outer rim or spoke Feature, to detect abnormal reception condition.Abnormal reception condition refers to that operator is detected by 24 undetected barriers of ADAS And/or operator takes action to avoid one of the barrier that detects earlier than situation in vehicle launch behavior.Work as operator When holding steering wheel and generating "abnormal" or increased pressure signal, abnormal receiving is indicated, instruction should apply vehicle braking. In some embodiments, study and 34 receiving sensor of computing module export 33, and sensor output is included about operator in side The data of grip in disk outer rim or spoke, and data and scheduled threshold value are analyzed.In some embodiments, in advance It is scheduled grip to determine threshold value.In some embodiments, the periodic data by learning and computing module 34 is handled and analyzed Carry out training threshold value grip.If it is more than or is differed markedly from scheduled by the grip that one or more pressure sensors 164 measure Grip or the threshold value grip of study, then ADAS 24 determines that danger has been detected, and generates and be transmitted to motor vehicle braking system Control signal.The control of vehicle during automatic mode is received is tracked and analyzed when operation by study and computing module 34 Person holds or grasps the pressure data obtained during steering wheel.In addition, when vehicle is not automatically brought into operation, study and computing module 34 Tracking and analysis pressure data, with the grip characteristics of learning manipulation person on the steering wheel during non-automated operation mode.

In some embodiments, study and computing module 34 with periodical intervals receiving sensor output 33 (including Grasping force data from one or more pressure sensors 164).Periodic time interval can be scheduled, and In some embodiments, the sampling interval is between about 10Hz and 50Hz.Study and computing module 34 receive periodical grip data And data are analyzed to know the difference between " normal " grip and "abnormal" or " urgent " grip." normal " grip is that do not have in vehicle There is the number pressure of detect and track in the case of being run by any danger that the vehicle sensing system for including sensor 26 detects It is operated according to or when vehicle in the case where comprehensive operator controls and operator does not detect harm or obstacle."abnormal" is held Power is pressure data, represents that operator has been detected by vehicle sensors 26 and may detect that or may undetected danger Or obstacle.The grip of "abnormal" may be represented by representing the data of grip more higher than normal grip." normal " grip and "abnormal" Difference between grip can be measured as the difference more than predetermined amount, about such as, but not limited to 8psi.In some embodiments In, "abnormal" grip is grip substantially more higher than " normal " grip, and can than measurement " normal " grip about 8psi or about 10psi.In some embodiments, by by data and vehicle in automation, semi-automatic or fully automatic operation Under vehicle operation during the data collected be compared, determine the grip of "abnormal".Because whether only being operated according to vehicle Operator's grip or grip strength can on steering wheel in the case of (not automating) under the control of person or is semi- or fully automated With variation, in some embodiments, the pressure data during operational mode acquisition is also controlled by study and the computing module of device 22 34 tracking and analysis, in various mode of vehicle operation provide operator " normal " grip or grip strength more completely Archives.

When being abnormal reception condition, learnt grip data are analyzed and recorded to study and computing module 34, to carry High-risk accuracy of detection and the quantity (that is, dangerous or obstacle error detection) for reducing false positive result.By analysis (such as but not Be limited to) due to the various mode of operation persons that vehicle is run catch steering wheel grip, grip strength and grasp frequency, study and Computing module 34 tracks and the feature of gripping of the learning manipulation person on steering wheel outer rim or spoke.It is pressed by one or more (controller 22, one or more pressure sensors 164 detect that operator is holding the mode of steering wheel to force snesor 164 With collected in operator when vehicle 10 holds steering wheel during normal operation sensing data difference when, have occurred different Often receive.Operator can change, and as follows in the characteristic of the automatic and manipulation direction disk during non-automatic operation of vehicle 10 What face further discussed, study and computing module 34 handle with analyte sensors data to identify these differences.

Using intensified learning, study and computing module 34 analyze the data from one or more pressure sensors 164, with Learn the grasping pattern of individual operator during automatic Pilot operational mode and non-automatic driving operational mode.In automatic Pilot It during operational mode, such as turns to, brakes, the various aspects of the vehicle 10 of air throttle etc. are controlled automatically by the modules of ADAS 24 System.In some embodiments, automatic driving mode includes such as blind monitoring, has the spies such as the cruise active monitoring of braking auxiliary Sign.The driving operational mode of non-automatic driving includes traditional driver and controls to drive, wherein driver directly control steering and Braking is automatically controlled without what is provided by ADAS 24.It is each driving operational mode in, operator can differently with side It is interacted to disk.For example, during automatic driving mode, operator gently can only catch or hold steering wheel or may be completely His or her hand is removed into a period of time from steering wheel.During non-automatic driving mode, operator can be than vehicle with certainly Dynamic or semiautomatic-mode more firmly grasps steering wheel when running.

By analyzing the digital signal received from pressure sensor 164, study and computing module 34 can learn to identify Operator during non-automatic driving mode and automatically or semi-automatically driving mode grasps and mode of operation.In addition to digital signal Except mode, the data from pressure sensor 164 are also provided about each grip characteristics of operator or the information of custom, example As but be not limited to the pressure when detecting barrier by ADAS 24, grasp duration etc..Study and computing module 34 use this To generate, for abnormal classification action, (grip strength or expression exception of the power of such as bigger receive event to a additional information Duration) operator Profile or model.

In addition, study and computing module 34 continuously record and check the data received from pressure sensor 164, Yi Jijian The data of the instruction vehicle-state received from other sensors 26 and outside vehicle environment are surveyed (including any obstacle detected Object etc.).With the associated sensing data of wrong report, that is, in the case where operator does not expect that brake starts using braking Device, by by data and represented abnormal operation (stronger grip or grip locations outside the grip area such as normally limited) Practical brake start event be compared be recorded and be used for improve learning model.As described above, study and calculating mould Block 34 is tracked and is monitored and the relevant data of abnormal grip pressure.Since abnormal grip pressure can represent that operator has examined Measure dangerous or barrier, controller 22 can by pressure sensor data it is associated with the data from other sensors 26 with Improve dangerous or barrier detection.Under some situations, before sensor 26 detects dangerous or barrier, operator can With detection danger or barrier.Pressure sensor data is compared with the data obtained from other sensors 26, Ke Yigai Into ADAS 24 to the danger detected or the response of barrier.

As shown in figure 4, ADAS 24 further includes path planning module 42, for determining the vehicle route to be followed, so that vehicle It is maintained on desired route, while observes traffic rules and regulations and avoid any barrier detected.Path planning module 42 Algorithm (lane is kept using the first obstacle avoidance algorithm (obstacle avoidance algorithm) and first lane Keeping algorithm) and the first route holding algorithm (route keeping algorithm), the first barrier time Algorithm configuration is kept away for tracking and avoiding any barrier detected near the vehicle, first lane keeps algorithm configuration to use In vehicle being maintained in current line track and the first route keeps algorithm configuration for keeping vehicle in desired route On.Path planning module 42 is configured to receiving sensor output 33.Path planning module 42 handles and synthesizes sensor output 33 and generate path planning output 43.Path planning output 43 includes the order vehicle route based on vehicle route, relative to road The presence of the vehicle location of line, the position in track and orientation and any barrier detected and path.

ADAS 24 further includes the vehicle control module 46 for sending out control command to Vehicular actuator 30.Vehicle control Module 46 calculates vehicle route using first path algorithm.Vehicle control module 46 is configured to RX path planning output 43 With study output 35.46 processing path of vehicle control module planning output 43 and study output 35, and generate vehicle control output 47.Vehicle control output 47 include one group of actuator commands, with realize from vehicle control module 46 order path (including but It is not limited to diversion order, gearshift order, throttle command and brake command).

Vehicle control output 47 communicates with actuator 30.In the exemplary embodiment, actuator 30 includes turning to Control device, selector control device, air throttle control device and arrester control device.For example, steering control device can be with Control steering 16 as shown in Figure 1.For example, selector control device can control speed changer 14 as shown in Figure 1.Example Such as, air throttle control device can control propulsion system 13 as shown in Figure 1.For example, arrester control device can control such as Brake 17 shown in FIG. 1.

Vehicle 10 such as above-mentioned include ADAS 24 various modules with being discussed.In some embodiments, vehicle 10 can not Including ADAS 24.In some embodiments, the ADAS 24 of vehicle 10 can include than more or fewer moulds discussed above Block.

As described above, measuring and track the data obtained from pressure sensor 164 (it is strong to include, but not limited to, e.g. grasping Spend, position and frequency), to determine abnormal grasping event, which illustrates abnormal receiving or preferential scene, and wherein it is applied to Vehicle brake is to avoid the barrier detected.Fig. 5 is to show to use to be passed by one or more pressure on steering wheel for vehicle The grip that sensor measures carrys out intensified learning and determines the flow chart of the method 500 of abnormal receiving or preferential scene.According to exemplary Embodiment, method 500 can use with reference to vehicle 10, controller 22, the various modules of ADAS 24 and actuator 30. Operation order in method 500 is not limited to sequence shown in fig. 5 and performs, but can be according to being applicable in and according to the present invention with one Or the sequence of multiple variations performs.

As shown in figure 5, since 502, method 500 advances to step 504.At 504,24 quilts of ADAS of controller 22 The various aspects to control vehicle 10 are arranged, are such as turned to, braking and air throttle.In some embodiments, as described above, vehicle 10 with fully automated or automanual mode operation.However, in some embodiments, vehicle 10 with non-automatic mode operation, and And in the operation situation, this method directly continues to 506.Next, at 506, the brake started on steering wheel starts Mechanism, i.e. any abnormal pressure sensing data of the brake actuating mechanism from installation on the steering wheel or expression are abnormal to be connect Led to the application of wheel drag 17 by the data of event.

At 508, controller 22 determines whether operator holds or grasp steering wheel 162.As described above, by processing by Sensing data that one or more pressure sensors 164 of brake actuating mechanism on steering wheel 162 obtain is somebody's turn to do It determines.If sensing data does not indicate that operator holds or grasp steering wheel, controller 22 continues to monitor sensing data Until data, instruction operator holds steering wheel.

Once controller 22 determines that operator holds steering wheel, method 500 proceeds to 510.At 510, study and meter The sensing data of 34 start recording of module and analysis from sensor 164 is calculated, is operated during autonomous mode is run with study Person (includes, but not limited to, e.g. the hand-power amount of operator, grip locations, intensity and grasping continue to the characteristic of the processing of steering wheel Time).The record of sensing data and analysis continue within the entire duration of method 500.

Next, at 512, controller 22, which determines whether there is, abnormal receives event.As described above, when study and meter The data that module 34 determines to receive from one or more pressure sensors 164 are calculated to deviate in the automatically or semi-automatically vehicle runtime Between expected sensing data when, signal and abnormal receive event.As described above, depending on vehicle operating modes, pressure Sensing data can be represented for automatic, semi-automatic or non-automatic vehicle operating learn or the deviation of predetermined grip.Example It such as but is not limited to, the deviation can represent to be higher than desired grip, the grasping of longer duration etc..If the controller determine that Not abnormal to receive event when operator grasps or holds steering wheel, then method 500 proceeds to 514, and based on automation The programme of work (feature of such as, but not limited to cruising) of feature, if vehicle is run in a manner of automatically or semi-automatically, releases One or more automatic Pilot feature autonomous modes.Method 500 then proceedes to 522 and terminates.

However, if controller 22 determines that sensing data is expressed as exception and receives event, this method proceeds to 516 simultaneously And controller 22 enables 10 brake-by-wire of vehicle using the brake actuating mechanism being mounted on steering wheel for vehicle.As above institute It states, brake actuating mechanism includes one or more pressure sensors 164.Next, at 518, control module 46 generates control Signal 47 processed includes the motor vehicle braking system of wheel drag 17 to control.The Learning Scheme of grip characteristics based on operator and Predetermined braking scheme, generation control signal 47.For example, the control signal 47 generated by control module 46 can be grabbed based on operator The pressure held, the grip pressure with being measured when vehicle 10 is run under normal or automatic driving mode are compared.For example, If it is unexpected and strong to the grasping of steering wheel to measure operator by pressure sensor 164, can be measured than working as Wheel drag 17 is more strongly applied to during abnormal grasping, but grip strength measures in unexpected and strong measurement and normally it Between.Various brake level threshold values can be limited, and can redefine to learn and calculating based on general grip characteristics Module 34, to develop the archives of operator's grip strength during intensified learning process.Brake level also can be according to weather condition And change.For example, under severe weather conditions such as raining or snow, braking will slow down to more steady and gradual change.

Method 500 then proceedes to 520, and brake force and measured behaviour including being applied are recorded by controller 22 Scene including author's grip is as additional data points, to improve the intensified learning of study and computing module 34.Method 500 is then Proceed to 522 and terminate.

Above method 500 is discussed under the background for automatically or semi-automatically driving operational mode.However, using side is mounted on Brake actuating mechanism on disk is not limited to the vehicle run under automatically or semi-automatically driving mode.In other embodiments In, the aspect (including installing brake actuating mechanism on the steering wheel) of method 500 can be during non-automatic vehicle be run It is used as in unexpected or period additional " urgent " stopping of brake actuating mechanism (that is, brake-by-wire actuating mechanism) Situation.

It is emphasized that many change and modification can be carried out to the embodiments described herein, element is understood to It is other acceptable examples.All such modifications and variations are intended to be included within the scope of this invention and by following right It is required that it is protected.In addition, any step described herein may be performed simultaneously or with step defined herein not Same sequence performs.Further, it should be apparent that the feature and attribute of specific embodiment disclosed herein can be with different Mode is combined to form other embodiment, and all these embodiments are within the scope of the present invention.

Unless otherwise stated, (especially such as " can with ", " possibility ", " possibility " " can for conditional statement used herein Can ", " possibility ", " such as " etc.) and be often interpreted as being typically aimed at convey specific embodiment include and other embodiments do not include it is special Determine feature, element and/or state.Therefore, such conditional statement is usually not meant to require one or more in any way The feature of a embodiment, element and/or state or one or more embodiment necessarily include for whether there is author's input or Decide whether these features in the case of prompting, element and/or state are included in or will be performed in any specific embodiment.

In addition, following term may have been used to herein.Unless the context clearly indicates otherwise, otherwise singulative " one ", "one" and "the" include plural referents.Thus, for example, the reference to project is included to one or more projects With reference to.Term " one " refers to one, two or more, and it is commonly available to the selection of some or all quantity.Term is " more It is a " refer to two or more projects.Term " about " is " about " exponential quantity, size, size, formula, parameter, shape and its His characteristic needs not be accurate, but can be approximate and/or greater or lesser as needed, reflects acceptable tolerance, turns The factor is changed, is rounded up, measurement error etc. and other factors well known by persons skilled in the art.Term " substantially " refers to institute It states characteristic, parameter or value not needing to accurately realize, but deviation or variation are (including such as tolerance, measurement error, measurement accuracy Limitation and other factors well known by persons skilled in the art) it can be occurred with the amount of effect that characteristic is not interfered to be intended to offer.

Herein, numeric data can be represented or be presented in the form of range.It should be understood that such range lattice Formula uses just to convenienct and succinct, therefore should be interpreted flexibly to not only include clearly arranging as the boundary of range The numerical value of act, but also it is interpreted as including all single numbers or comprising subrange in the range, such as each numerical value As being expressly recited with subrange.As explanation, the numberical range of " about 1 to 5 " should be construed to include clearly arranging The value of about 1 to about 5 of act, and should also be construed to further include indivedual values and subrange in indicating range.Therefore, including The single value and such as " about 1 to about 3 " that in this numberical range be such as 2,3 and 4, " about 2 to about 4 " and " about 3 to about 5 ", the " " subrange waited of 1 to 3 ", " 2 to 4 ", " 3 to 5.This identical principle be suitable for only enumerating a numerical value (for example, " it is big In the range of about 1 "), and no matter the width of described range or feature.For convenience's sake, can be in common list Existing multiple projects.However, these lists should regard various pieces in list as independently as independent and unique part.Cause This, any one of these lists member shall not be interpreted to be based only on their statements in a common group Without practically identical other members of any opposite expression.In addition, term " and " and "or" and bulleted list one Rise in use, they should be construed broadly, the project that any of which one or more is listed can be used alone or with it is other The project enumerated combines.Unless the context clearly dictates otherwise, term " optionally " refers to select two or more replacements One in scheme, and be not intended to and selectional restriction is only listed into listed alternative in the alternative solution only listed or once One in case.

Process disclosed herein, method or algorithm can consign to processing equipment, and controller or computer/set by processing Standby, controller or computer are realized, processing equipment, and controller or computer can include any existing programmable electricity Sub-control unit or special electronic control unit.Similarly, the process, method or algorithm can be stored as can by controller or The data and instruction that computer performs in a variety of forms, the form include but not limited to be permanently stored in not writeable storage medium Information on (such as ROM device) and be changeably stored in writable storage media (such as floppy disk, tape, CD, RAM device with And other magnetic and optical mediums).Process, method or algorithm can also be realized in software executable object.Alternatively, mistake Journey, method or algorithm can use appropriate hardware component (such as application-specific integrated circuit (ASIC), field programmable gate array (FPGA), state machine, controller or other hardware components) it entirely or partly realizes or equipment or hardware, software and firmware The combination of component.Such example apparatus can as vehicle computing system a part it is vehicle-mounted or outside vehicle and with Equipment on one or more vehicles carries out telecommunication.

Although the foregoing describe exemplary embodiment, these embodiments are not intended to describe encompassed All possible form.The word used in specification is descriptive words rather than restricted word, and it should be understood that can To make various changes without departing from the spirit and scope of the present invention.As described above, the spy of each embodiment Sign can be combined to form other illustrative aspects of the present invention, may not be expressly depicted or show.It is although various Embodiment may be described as providing advantage or be better than other embodiment or existing skill relative to characteristic needed for one or more Art embodiment, but those of ordinary skill in the art recognize that one or more features or characteristic can be compromised to realize Total system attribute is needed, this depends on specific application and realizes.These attributes can include but is not limited to cost, and intensity is resistance to Long property, life cycle cost, merchantability, appearance, packaging, size, applicability, weight, manufacturability are easily assembled to.In this way, It is described as not existing not as good as other embodiment or the desirable embodiment of prior art embodiment relative to one or more characteristics Except the scope of the present invention, and may be desired for specific application.

Claims (7)

1. a kind of system for automatically controlling vehicle braking, including：

User interface on steering wheel for vehicle；

Actuator is configured to control motor vehicle braking system；And

The controller to communicate with the user interface and the actuator electronics, the controller are configured to receive from described User's input of user interface is inputted to calculate the vehicle braking amount to be applied based on the user, and automatically controlled described Actuator applies calculated vehicle braking amount.

2. system according to claim 1, wherein the user interface includes one or more sensors, it is one or Multiple sensors are configured to measure the feature that one or more users grasp, and the grip features are included in the direction of traffic One or more of user grasps on disk grip strength, grasping frequency and grasping duration.

3. system according to claim 2, wherein one or more of sensors include one or more pressure sensings Device.

4. system according to claim 3, wherein one or more of pressure sensors include one or more pressure drags Sensor.

5. system according to claim 3, wherein the device processed is further configured to analyze one or more of use Family grip features simultaneously generate files on each of customers based on the grip features analyzed.

6. system according to claim 1, the system further comprises steering, throttle system and including one Or the sensing system of multiple vehicle sensors, the vehicle sensors are configured to one that generation corresponds to vehicle environmental feature Or multiple sensing datas, and wherein described controller is further configured to control described turn based on the sensing data To system, the braking system and the throttle system.

7. system according to claim 6, wherein the controller is further configured to monitor the sensing data It is inputted with the user and the sensing data is associated with user input to improve the barrier of the sensing system Hinder analyte detection ability.